cmake_minimum_required(VERSION 3.8)
project(mani_pkg)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)

find_package(rclcpp REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(std_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(wpr_simulation2 REQUIRED)

add_executable(mani_ctrl src/mani_ctrl.cpp)
ament_target_dependencies(mani_ctrl "rclcpp" "sensor_msgs")

add_executable(grab_object src/grab_object.cpp)
ament_target_dependencies(grab_object
  "rclcpp" "std_msgs" "geometry_msgs" "sensor_msgs" "wpr_simulation2"
)



install(TARGETS mani_ctrl
grab_object
DESTINATION lib/${PROJECT_NAME})


if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()
